US 12,466,081 B2
Sealer work automation system using robot and its method
Kyoung Hye Kim, Suwon-si (KR); and Kwangro Choi, Gwangju (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Apr. 23, 2024, as Appl. No. 18/643,259.
Claims priority of application No. 10-2023-0116039 (KR), filed on Sep. 1, 2023.
Prior Publication US 2025/0073913 A1, Mar. 6, 2025
Int. Cl. B25J 11/00 (2006.01); B25J 9/16 (2006.01); B62D 65/00 (2006.01)
CPC B25J 11/0075 (2013.01) [B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B62D 65/00 (2013.01)] 20 Claims
OG exemplary drawing
 
16. A sealer work automation system, the system comprising:
a robot configured to perform a brushing work of spreading a sealer applied to a joint by moving a brushing work tool to an under body;
a three-dimensional (3D) sensor mounted on the robot and configured to photograph a work portion of the joint to acquire 3D data;
a residual sealer remover configured to remove a residual sealer by applying a physical force to a brush of the brushing work tool contaminated after the brushing work;
a robot path generator configured to generate a brushing work robot path by matching the 3D data received from the 3D sensor and design data for the brushing work of the joint;
a robot controller configured to control an overall operation of the robot and to control the brushing work of the robot based on the robot path;
a brush examiner configured to photograph a front image and a side image of the brush from which the residual sealer is removed to judge whether a brush state is normal or defective based on image sensing; and
a tool replacer configured to recover the brushing work tool including the brush judged to be defective from the robot and supply a new brushing work tool to replace the recovered brushing work tool.